From 29e4395a5aa415e81a77807cdcac8b8da4be2a0e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Juraj=20Or=C5=A1uli=C4=87?= <juraj.orsulic@fer.hr>
Date: Thu, 14 Dec 2017 10:02:54 +0100
Subject: [PATCH] Make WaitForAllComputation wait for work queue in 3D as well
 (#758)

Repeat the change in #754 by @gaschler for 3D as well.
---
 cartographer/mapping_3d/pose_graph.cc | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/cartographer/mapping_3d/pose_graph.cc b/cartographer/mapping_3d/pose_graph.cc
index fdee1bf..5fff41e 100644
--- a/cartographer/mapping_3d/pose_graph.cc
+++ b/cartographer/mapping_3d/pose_graph.cc
@@ -368,8 +368,9 @@ void PoseGraph::WaitForAllComputations() {
       constraint_builder_.GetNumFinishedNodes();
   while (!locker.AwaitWithTimeout(
       [this]() REQUIRES(mutex_) {
-        return constraint_builder_.GetNumFinishedNodes() ==
-               num_trajectory_nodes_;
+        return ((constraint_builder_.GetNumFinishedNodes() ==
+                 num_trajectory_nodes_) &&
+                !work_queue_);
       },
       common::FromSeconds(1.))) {
     std::ostringstream progress_info;